There has been a plethora of subsequent works afterwards to extend this setting, to more realistic scenarios. Authors in paper [1]} extended this framework to cases were the support of system disturbances is unbounded. Martins accommodated time-varying rates for the communication channel in the framework, however, their results were limited to first order linear systems with bounded disturbances [2]}. Paper [3]} widened the applicability of the data rate theorem to finite dimensional linear systems with unbounded disturbance and time varying rate for the communication channel. In contrast to the previous works [1]}, [2]}, [3]}, Liu in [7]} considers the joint effect of all the two parameters of latency and data rate by finding a region of stability that indicates the necessary and sufficient values of data-rate as well as latency. Huang also considered the joint effect of all the three parameters of latency, reliability and data rate on the control system [8]}. It was shown by Kostina that for a fully observable linear system, a lower bound for the rate-cost function can be computed even when the system disturbances are not generated by a Gaussian process [9]}. The results provided by their research can even be generalized to partially observed linear systems, when the observation noise is Gaussian. The rate-cost function is the minimum required bit-rate that can guarantee the system state to be upper-bounded by a certain value.
